CN114347006A

CN114347006A - Modular structure configuration arm and robot

Info

Publication number: CN114347006A
Application number: CN202111675502.0A
Authority: CN
Inventors: 赵晓东; 王韬
Original assignee: Advanced Institute of Information Technology AIIT of Peking University; Hangzhou Weiming Information Technology Co Ltd
Current assignee: Advanced Institute of Information Technology AIIT of Peking University; Hangzhou Weiming Information Technology Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-15

Abstract

The invention relates to a modular structure configuration arm, which comprises a shoulder joint mechanism, a big arm, an elbow joint mechanism, a forearm, a wrist joint parallel mechanism and a hand, wherein the shoulder joint mechanism, the big arm, the elbow joint mechanism, the forearm and the wrist joint parallel mechanism are sequentially connected; the shoulder joint mechanism comprises a first motor, a second motor and a third motor; the elbow joint mechanism comprises a fourth motor connected to the large arm, and a fifth motor is arranged at one end of the fourth motor, which is far away from the large arm; the wrist joint parallel mechanism comprises a sixth motor connected to the forearm and a seventh motor connected to the sixth motor; all be provided with the electromagnetic brake mechanism that the structure is the same on first motor, second motor, third motor, fourth motor, fifth motor, sixth motor and the seventh motor, when detecting that there is the barrier in the arm motion range, electromagnetic brake mechanism can in time control the motor that corresponds and stop motion. The invention has the effect of solving the problem that the mechanical arm is easy to damage due to the fact that the mechanical arm is easy to collide with the barrier.

Description

Modular structure configuration arm and robot

Technical Field

The invention relates to the technical field of civil air defense engineering, in particular to a modular structure configuration arm and a robot with the same.

Background

This section provides background information related to the present disclosure only and is not necessarily prior art.

The modularized robot has 7 degrees of freedom and a motion range of a human motion state, posture control capability and environment perception capability, has certain workload capability and precision, completes basic functions of a mechanical arm of a human, and has human appearance configuration and action harmony. The robot is used by being split into parts of limbs, physical mechanical structure support and motion joint composition are realized, light materials and design meet use requirements, and the requirements of approaching normal human motion can be realized on the basis of auxiliary control of a sensor and a human in the aspect of control, development of a motion control software plan system and machine learning.

However, the range of motion of the conventional robot arm is close to 7 degrees of freedom of motion of the robot arm, and when an obstacle appears in the range of motion of the robot arm, the robot arm continues to move within the received instruction range, so that the robot arm easily collides with the obstacle, and the robot arm is easily damaged.

Disclosure of Invention

The invention aims to at least solve the problem that the mechanical arm is easy to collide with an obstacle, so that the mechanical arm is easy to damage. The purpose is realized by the following technical scheme:

the invention provides an arm with a modular structure, which comprises a shoulder joint mechanism, a big arm, an elbow joint mechanism, a forearm, a wrist joint parallel mechanism and a hand, wherein the shoulder joint mechanism, the big arm, the elbow joint mechanism, the forearm and the wrist joint parallel mechanism are sequentially connected;

the shoulder joint mechanism comprises a first motor, a second motor and a third motor, the second motor is connected to an output shaft of the first motor, the output shaft of the second motor is perpendicular to the output shaft of the first motor, the third motor is connected to one end, far away from the first motor, of the second motor, the third motor is perpendicular to the second motor, and the large arm is connected to the output shaft of the third motor;

the elbow joint mechanism comprises a fourth motor connected to the large arm, an output shaft of the fourth motor is perpendicular to the third motor, a fifth motor is arranged at one end, far away from the large arm, of the fourth motor, an output shaft of the fifth motor is perpendicular to the output shaft of the fourth motor, and the front arm is connected to the output shaft of the fifth motor;

the wrist joint parallel mechanism comprises a sixth motor connected to the forearm and a seventh motor connected to the sixth motor, and the hand is connected to the seventh motor to form a wrist joint parallel motion mechanism;

the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the seventh motor are all provided with electromagnetic brake mechanisms with the same structure, and the electromagnetic brake mechanisms can control the corresponding motors to be turned on or turned off.

According to the modular structure configuration arm, by adopting the technical scheme, the first motor rotates to drive the mechanical arm to axially rotate 360 degrees around the output shaft of the first motor, the second motor rotates to control the large arm to axially rotate around the output shaft of the second motor, so that the mechanical arm is turned towards the direction of a body, the third motor rotates to drive the large arm to rotate 360 degrees around the axis of the large arm, namely the first motor, the second motor and the third motor are matched to control the horizontal swinging, the vertical swinging and the 360-degree rotation around the center of the mechanical arm, and the fourth motor and the fifth motor are used for respectively controlling the bending of the forearm and the rotation around the center of the forearm; the sixth motor and the seventh motor are used for controlling the wrist to move in four directions in parallel, namely front, back, left and right directions, so that the hand can swing, when the mechanical arm detects an obstacle in a moving range by any one of the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the seventh motor in the movement process, the electromagnetic brake mechanism controls the corresponding motor to stop working, so that the position corresponding to the mechanical arm is controlled to stop working, and the collision between the mechanical arm and the obstacle can be reduced or avoided.

In addition, the modular structural arm according to the invention can also have the following additional technical features:

in some embodiments of the present invention, the electromagnetic brake mechanism includes an electromagnet fixedly disposed on an outer side wall of the motor, a rotor in a motor housing is provided with a notch groove, a housing of the motor is provided with a step-down groove, a movable iron core is disposed below the electromagnet, and a bolt is fixedly disposed on the movable iron core and extends into the step-down groove.

In some embodiments of the present invention, the number of the cutaway grooves on the rotor is several, and when the number of the cutaway grooves is several, the cutaway grooves are uniformly distributed in the circumferential direction of the rotor.

In some embodiments of the present invention, a return spring is provided between the movable core and the electromagnet.

In some embodiments of the invention, a connection is provided between the third motor and the second motor;

the connecting piece is including setting firmly in locating plate on the third motor, one side that the third motor was kept away from to the locating plate is provided with locating lever and connecting rod, the locating lever corresponds the position of the output shaft of second motor has seted up a plurality of through-holes, set up on the output shaft of second motor with the bolt hole of through-hole one-to-one, the bolt pass behind the through-hole with bolt hole threaded connection, the one end bolt of connecting rod set firmly in on the locating plate, the circular slot has been seted up to the other end of connecting rod, the one end that the output shaft was kept away from to the second motor is seted up and is set firmly the spacing ring, the circular slot joint in outside the spacing ring.

In some embodiments of the present invention, the connecting member is disposed between the fifth motor and the fourth motor, and has the same structure as the connecting member between the third motor and the second motor.

In some embodiments of the invention, the forearm includes a positioning frame, the sixth motor is fixedly arranged in the positioning frame, the seventh motor is rotatably connected in the positioning frame, an output shaft of the sixth motor is connected with a first connecting rod and a second connecting rod, one ends of the first connecting rod and the second connecting rod, which are far away from the sixth motor, are both fixedly arranged on an outer side wall of the seventh motor by bolts, the first connecting rod and the second connecting rod are arranged in parallel, a stop block is fixedly arranged in the middle of the first connecting rod, which faces the second connecting rod, and a first limit block and a second limit block are fixedly arranged at two ends of one side of the second connecting rod, which is close to the first connecting rod, respectively.

In some embodiments of the present invention, the connecting member having the same structure as that of the third motor is connected between the seventh motor and the hand portion, a limiting table is fixedly disposed at an end of the connecting member, a limiting groove for the limiting table to be inserted into is disposed on the hand portion, and a bolt is connected to the limiting groove of the hand portion in a threaded manner.

In some embodiments of the present invention, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, and the seventh motor are identical in structure.

The invention also provides a robot, which comprises the modular structure configuration arm.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:

fig. 1 is a schematic view of the overall structure of a modular structural arm.

Fig. 2 is an exploded view of the modular structural configuration arm shown in fig. 1.

Fig. 3 is an exploded view of the shoulder joint mechanism shown in fig. 1.

Figure 4 is an exploded view of the shoulder joint mechanism to highlight the attachment.

Fig. 5 is a schematic structural view of a wrist joint.

Fig. 6 is a cross-sectional view of the first motor and the electromagnetic brake mechanism.

Fig. 7 is an exploded view of the first motor and the electromagnetic brake mechanism.

Reference numerals:

1. a shoulder joint mechanism; 11. a first motor; 111. a notch groove; 112. a yielding groove; 12. a second motor; 121. a rotating plate; 122. bolt holes; 123. a limiting ring; 13. a third motor; 14. a connecting member; 141. Positioning a plate; 142. positioning a rod; 1421. a through hole; 143. a connecting rod; 1431. a circular groove; 144. a limiting table; 2. a large arm; 3. an elbow joint mechanism; 31. a fourth motor; 32. a fifth motor; 4. a forearm; 41. a positioning frame; 42. a fixing plate; 43. a limiting frame; 5. a wrist joint parallel mechanism; 51. a sixth motor; 52. a seventh motor; 521. a boss; 53. a first link; 531. a stopper; 54. a second link; 541. a first stopper; 542. a second limiting block; 55. a connecting plate; 6. a hand portion; 61. a limiting groove; 7. an electromagnetic brake mechanism; 71. an electromagnet; 72. a movable iron core; 73. a bolt; 74. a return spring.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 to 7, the modular structure configuration arm of the present embodiment includes a shoulder joint mechanism 1, a big arm 2, an elbow joint mechanism 3, a forearm 4, a wrist joint parallel mechanism 5 and a hand 6 which are connected in sequence, the shoulder joint mechanism 1 is used for connecting a mechanical arm and a body; the shoulder joint mechanism 1 is used for controlling horizontal swinging, vertical swinging and 360-degree rotation freedom degree around the center of the mechanical arm, the elbow joint mechanism 3 is used for controlling 360-degree rotation freedom degree around the center of the forearm 4 and controlling the front and back stretching freedom degree of the forearm 4 to the upper arm 2, so that the rotation of the forearm 4 and stretching to the mechanical arm are realized, the wrist joint parallel mechanism 5 is used for controlling the left and right horizontal swinging freedom degree of the hand 6 relative to the palm center and controlling the vertical swinging freedom degree of the mechanical arm relative to the palm center, so that the up, down, left and right directions of movement of the hand 6 are controlled, and the shoulder joint mechanism 1, the upper arm 2, the elbow joint mechanism 3, the forearm 4, the wrist joint parallel mechanism 5 and the hand 6 realize the control of the mechanical arm of a 7-degree-of-freedom simulation person.

Referring to fig. 3 and 4, the shoulder joint mechanism 1 includes a first motor 11, a second motor 12, and a third motor 13, the first motor 11 is used for fixing with the shoulder, and an output shaft of the first motor 11 is horizontally disposed; the first motor 11 rotates, and then the mechanical arm can be driven to rotate around the axis of the output shaft of the first motor 11, and then the mechanical arm can be driven to swing by 360 degrees. The second motor 12 is connected to the output shaft of the first motor 11, the outer side wall of the second motor 12 is fixedly provided with a rotating plate 121, the rotating plate 121 is fixedly connected with the output shaft of the first motor 11, and the output shaft of the second motor 12 is perpendicular to the output shaft of the first motor 11; the second motor 12 rotates to drive the hand 6 to rotate around the axial direction of the output shaft of the second motor 12, and the angle of the hand 6 rotating around the second motor 12 is less than 360 degrees due to the influence of the position of the first motor 11.

The third motor 13 is connected to the bottom of the second motor 12, a connecting member 14 is fixedly arranged on the outer side wall of the third motor 13, the connecting member 14 is in a U-shaped configuration, the connecting member 14 includes a positioning plate 141 fixedly arranged on the third motor 13, a positioning rod 142 and a connecting rod 143 are arranged on one side of the positioning plate 141 far away from the third motor 13, and the positioning rod 142 and the positioning plate 141 are integrally formed. The positioning rod 142 is provided with a plurality of through holes 1421 corresponding to the output shaft of the second motor 12, the output shaft of the second motor 12 is provided with bolt holes 122 corresponding to the through holes 1421 one to one, and the bolts penetrate through the through holes 1421 and then are in threaded connection with the bolt holes 122, so that the positioning rod 142 and the output shaft of the second motor 12 can be fixed. One end of the connecting rod 143 is fixed on the positioning plate 141 by a bolt, the other end is provided with a circular groove 1431, the end of the second motor 12 far away from the output shaft is provided with a limit ring 123, and the circular groove 1431 of the connecting rod 143 is clamped outside the limit ring 123, so that the connecting rod 143 rotates relative to the second motor 12. The disassembly and assembly between the third motor 13 and the second motor 12 are facilitated through the connecting piece 14; the second motor 12 rotates to drive the mechanical arm to rotate around the axial direction of the output shaft of the second motor 12, i.e. the mechanical arm can be driven to rotate around the output shaft of the second motor 12.

The output shaft of the third motor 13 is arranged vertically relative to the output shaft of the second motor 12, and the large arm 2 is fixed on the output shaft of the third motor 13 through bolts; the third motor 13 is rotated, i.e., the large arm 2 can be driven to rotate 360 degrees relative to the output shaft of the third motor 13.

Referring to fig. 2, the elbow joint mechanism 3 includes a fourth motor 31 and a fifth motor 32 connected to the fourth motor 31, and the forearm 4 is connected to the fifth motor 32. The fourth motor 31 is fixedly arranged at one end of the large arm 2 far away from the third motor 13, an output shaft of the fourth motor 31 is perpendicular to an output shaft of the third motor 13, and one end of the fifth motor 32 near the fourth motor 31 is provided with a connecting piece 14 which is connected with the third motor 13 and has the same structure, and details are not repeated here. The connecting piece 14 connects the fifth motor 32 and the fourth motor 31, which is convenient for the detachment and installation between the fourth motor 31 and the fifth motor 32, and at the same time, the fifth motor 32 rotates relative to the output shaft of the fourth motor 31, which can drive the front arm 4 to bend towards the big arm 2, and realize the telescopic freedom degree of the mechanical arm.

An output shaft of the fifth motor 32 is perpendicular to an output shaft of the fourth motor 31, and the front arm 4 is fixedly arranged on the output shaft of the fifth motor 32; the fifth motor 32 rotates to drive the front arm 4 to axially rotate 360 degrees relative to the output shaft of the fifth motor 32.

Referring to fig. 2 and 5, the wrist joint parallel mechanism 5 includes a sixth motor 51 and a seventh motor 52 connected to the inside of the front arm 4, an output shaft of the sixth motor 51 is axially arranged perpendicular to an output shaft of the fifth motor 32, and the front arm 4 is bolted to the fifth motor 32. The front arm 4 comprises a positioning frame 41, one end of the positioning frame 41 is fixedly provided with a fixing plate 42, the fixing plate 42 and the positioning frame 41 are integrally formed, the other end of the positioning frame 41 is fixedly provided with a limiting frame 43, and a U shape is formed among the fixing plate 42, the positioning frame 41 and the limiting frame 43. One end of the output shaft of the sixth motor 51 is arranged close to the limiting frame 43, and one end of the sixth motor 51 far away from the output shaft is fixedly arranged on the fixing plate 42; the seventh motor 52 is rotatably connected between the fixing plate 42 and the limiting frame 43, an axial direction of an output shaft of the seventh motor 52 is perpendicular to an axial direction of an output shaft of the sixth motor 51, and the seventh motor 52 is connected with the connecting member 14 having the same structure as the third motor 13, which is not described herein again. One end of the connecting piece 14 far away from the seventh motor 52 is connected with the hand 6, the end part of the connecting piece 14 is fixedly provided with a limiting table 144, the hand 6 is provided with a limiting groove 61 for the limiting table 144 to be inserted, and after the limiting table 144 is inserted in the limiting groove 61, the hand 6 fixes the limiting table 144 through a bolt, so that the hand 6 is connected with the seventh motor 52. When the seventh motor 52 drives the connecting piece 14 to rotate, the left-right horizontal swinging of the hand 6 relative to the palm center can be controlled, the sixth motor 51 and the seventh motor 52 are mechanical parallel mechanisms, the degree of freedom of the movement of the sixth motor 51 is transmitted to the outer side of the joint of the seventh motor 52 through the first connecting rod 53 and the second connecting rod 54, and the effect is that the movement of 4 directions on the end surface of the wrist can be realized, namely when the sixth motor 51 rotates, the seventh motor 52 and the hand 6 are driven to swing up and down relative to the palm center, so that the swinging of the hand 6 in four directions of up, down, left and right is controlled.

Two bosses 521 are symmetrically and fixedly arranged on the outer side wall of the seventh motor 52, and one boss 521 of the seventh motor 52 is rotatably connected to the fixing plate 42; the one end that spacing frame 43 kept away from locating rack 41 becomes the arc setting, makes the one end joint that spacing frame 43 kept away from locating rack 41 outside another boss 521, and spacing frame 43 plays limiting displacement to boss 521, does not influence the boss 521 and rotates between fixed plate 42 and spacing frame 43.

The output shaft of the sixth motor 51 is connected with a first connecting rod 53 and a second connecting rod 54, one end of the first connecting rod 53 and one end of the second connecting rod 54 are connected with a connecting plate 55, and the first connecting rod 53 and the second connecting rod 54 are fixed on the connecting plate 55 through bolts. The output shaft of the sixth motor 51 is provided with a plurality of bolt holes 122, the connecting plate 55 is provided with a plurality of through holes 1421 corresponding to the bolt holes 122 one to one, and the bolts pass through the through holes 1421 and then are fixed to the output shaft of the sixth motor 51, i.e., the first connecting rod 53 and the second connecting rod 54 can be fixed to the sixth motor 51. The ends, far away from the sixth motor 51, of the first connecting rod 53 and the second connecting rod 54 are all fixedly arranged on the boss 521 of the seventh motor 52 through bolts, wherein the first connecting rod 53 and the second connecting rod 54 are arranged in parallel, the middle of the first connecting rod 53 facing the second connecting rod 54 is fixedly provided with a stop block 531, and the two ends, near the first connecting rod 53, of the second connecting rod 54 are respectively and fixedly provided with a first limiting block 541 and a second limiting block 542. When the sixth motor 51 drives the first link 53 and the second link 54 to rotate, the seventh motor 52 is driven to rotate by the first link 53 and the second link 54, when the seventh motor 52 turns upwards until the stopper 531 in the middle of the first link 53 abuts against the first stopper 541, that is, the upward turning angle of the hand 6 reaches the maximum, and when the seventh motor 52 turns downwards until the stopper 531 in the middle of the first link 53 abuts against the second stopper 542, that is, the downward turning angle of the hand 6 reaches the maximum, which is similar to the case that the hand 6 swings up and down relative to the palm center, reaches the turning limit, so that the degree of freedom of the movement of the hand 6 is more attached to the swing of the hand 6.

Referring to fig. 2 and 7, the first motor 11, the second motor 12, the third motor 13, the fourth motor 31, the fifth motor 32, the sixth motor 51 and the seventh motor 52 for controlling the mechanical arm to realize the mechanized movement have the same structure, and each motor is provided with the electromagnetic brake mechanism 7 having the same structure, and here, only the electromagnetic brake mechanism 7 on the first motor 11 is taken as an example. When people or objects about to collide are identified, the electromagnetic brake mechanism 7 can control the motor to brake and decelerate in time, so that the collision between the mechanical arm and the surrounding people or objects is reduced.

Referring to fig. 7, electromagnetic brake mechanism 7 includes electromagnet 71 that sets firmly in first motor 11 lateral wall, breach groove 111 has been seted up on the rotor in the casing of first motor 11, the figure of breach groove 111 is a plurality of, when the figure of breach groove 111 is a plurality of, breach groove 111 is along the circumference evenly distributed of rotor, the groove 112 of stepping down has been seted up on the shell of first motor 11, electromagnet 71's below is provided with movable iron core 72, be provided with reset spring 74 between movable iron core 72 and the electromagnet 71, bolt 73 has set firmly on the movable iron core 72, bolt 73 extends to the inslot 112 of stepping down. Meanwhile, a triangular amplitude plate is further processed on the end face of the motor rotor, and the heat dissipation effect of the fan is achieved. When the mechanical arm is detected to touch a person or an object, the electromagnet 71 is electrified, the movable iron core 72 is moved towards the electromagnet 71 by the attraction force of the electromagnet 71, and the return spring 74 is compressed, so that the bolt 73 is driven to slide from the abdicating groove 112 to the notch groove 111, and the rotor is controlled to stop moving. When the obstacle is cleared, the electromagnet 71 is energized in the reverse direction, the attraction force of the electromagnet 71 to the movable iron core 72 disappears, the tension of the return spring 74 pushes the movable iron core 72 to move in the direction away from the electromagnet 71, and the latch 73 slides from the notch groove 111 to the abdicating groove 112, so that the continuous operation of the rotor is not affected, that is, the first motor 11 continues to operate. Wherein, the setting of a plurality of breach grooves 111, the bolt 73 of being convenient for slides fast to nearest breach groove 111 in to reduce the time of motor work, can in time control motor stop work. Due to the arrangement of the return spring 74, the tension of the return spring 74 pushes the movable iron core 72 to move away from the electromagnet 71, so that the movable iron core 72 is reset conveniently.

The implementation principle of the modular structure configuration arm in the embodiment of the application is as follows: first motor 11 rotates, it rotates 360 degrees to drive the output shaft axial of arm around first motor 11, second motor 12 rotates and to control the axial rotation of big arm 2 around the output shaft of second motor 12, realize the upset of the direction side of arm to the health, third motor 13 rotates and can drive big arm 2 around the rotatory 360 degrees in axle center of big arm 2, first motor 11 promptly, second motor 12 and third motor 13 cooperation control arm for the horizontal swinging of health, vertical swing and 360 degrees rotations in center around the arm. A fourth motor 31 and a fifth motor 32 for controlling the bending of the forearm 4 and the rotation around the center of the forearm 4, respectively; the sixth motor 51 and the seventh motor 52 are used for controlling the wrist to move in four directions of front, back, left and right in parallel, so as to realize the automatic taking of the hand 6.

The invention also provides a robot, which comprises the modular structure configuration arm. The modular construction configuration arm has all the technical features described above, and therefore, the description thereof is omitted.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a modular structure configuration arm, includes consecutive shoulder joint mechanism, big arm, elbow joint mechanism, forearm, wrist joint parallel mechanism and hand, its characterized in that:

2. Modular construction configuration arm according to claim 1, characterized in that: electromagnetic brake mechanism has seted up the breach groove including setting firmly the electro-magnet in the motor lateral wall on the rotor in the motor casing, has seted up the groove of stepping down on the shell of motor, the below of electro-magnet is provided with movable iron core, the last bolt that has set firmly of movable iron core, the bolt extends to in the groove of stepping down.

3. Modular structure configured arm according to claim 2, characterized in that: the rotor is provided with a plurality of notch grooves, and when the notch grooves are in a plurality of numbers, the notch grooves are uniformly distributed along the circumferential direction of the rotor.

4. Modular structure configured arm according to claim 2, characterized in that: and a return spring is arranged between the movable iron core and the electromagnet.

5. Modular construction configuration arm according to claim 1, characterized in that:

a connecting piece is arranged between the third motor and the second motor;

6. Modular structure configured arm according to claim 5, characterized in that: the connecting piece which has the same structure with the third motor and the second motor is arranged between the fifth motor and the fourth motor.

7. Modular structure configured arm according to claim 5, characterized in that: the forearm includes the locating rack, the sixth motor set firmly in the locating rack, the seventh motor rotate connect in the locating rack, be connected with first connecting rod and second connecting rod on the output shaft of sixth motor, first connecting rod with the second connecting rod is kept away from the equal bolt in one end of sixth motor set firmly in seventh motor lateral wall, first connecting rod with the parallel arrangement of second connecting rod, first connecting rod orientation the middle part of second connecting rod has set firmly the dog, the second connecting rod is close to the both ends of one side of first connecting rod have set firmly first stopper and second stopper respectively.

8. Modular structure configured arm according to claim 7, characterized in that: the connecting piece is connected between the seventh motor and the hand, the structure of the connecting piece is the same as that of the third motor, a limiting table is fixedly arranged at the end of the connecting piece, a limiting groove for the limiting table to be inserted is formed in the hand, and a bolt is connected to the limiting groove in the hand in a threaded mode.

9. Modular construction configuration arm according to claim 1, characterized in that: the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the seventh motor have the same structure.

10. A robot, characterized in that it comprises a modular construction configuration arm according to any of claims 1-9.